CN109086508A - A kind of automobile emergency distress system threshold threshold value dynamic matching method - Google Patents
A kind of automobile emergency distress system threshold threshold value dynamic matching method Download PDFInfo
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- CN109086508A CN109086508A CN201810818820.XA CN201810818820A CN109086508A CN 109086508 A CN109086508 A CN 109086508A CN 201810818820 A CN201810818820 A CN 201810818820A CN 109086508 A CN109086508 A CN 109086508A
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- G—PHYSICS
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- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
- G06F17/14—Fourier, Walsh or analogous domain transformations, e.g. Laplace, Hilbert, Karhunen-Loeve, transforms
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
- G06F17/18—Complex mathematical operations for evaluating statistical data, e.g. average values, frequency distributions, probability functions, regression analysis
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- G—PHYSICS
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Abstract
The present invention discloses a kind of dynamic matching method of automobile emergency distress system threshold threshold value, and specific scheme is: Step 1: acceleration information and vehicle speed data in acquisition vehicle traveling process；Step 2: calculating the power spectral density of acceleration information；Step 3: passing through the correlation model of the power spectral density for the acceleration being preset in automobile emergency distress system, speed and international roughness index, corresponding international roughness index value is calculated with speed according to collected acceleration power spectral density, to achieve the purpose that road surface identifies；Step 4: calculating threshold threshold value according to the speed of the international roughness index value and acquisition that are calculated by the correlation model of the international roughness index, speed and threshold threshold value that are preset in automobile emergency distress system.The present invention uses dynamic threshold threshold value, so that interference signal is more effectively filtered, the accuracy for improving the operational efficiency of entire automobile emergency distress system and externally calling for help.
Description
Technical field
The present invention relates to vehicle passive safety field more particularly to a kind of automobile emergency distress system threshold threshold value dynamics
The method matched.
Background technique
With the increase of China's automobile guarantee-quantity, traffic accident is touched from unicity to complexity, serious sexual development by two vehicles
Hit more vehicle collision course development.The generation of major traffic accidents brings heavy losses to the people's lives and property, so, it is right
The research of automobile emergency distress system is very necessary.
Existing automobile emergency distress system, mainly using air bag igniting signal as trigger signal source, i.e. system
In accident monitoring module once detect that air bag is lighted a fire, with regard to automatic trigger call for help module.But reliability by
It is such to install additional to the restriction of air bag system, and for those the originally vehicle of the unequipped system
Emergency call system needs to change air bag system, has very high technical difficulty and great security risk.Based on this,
Recent domestic actively researches and develops the emergency call system of non-security air bag ignition signal triggering.Since body acceleration signal has
There are acquisition, processing convenient, vehicle system reequips easy advantage, therefore using body acceleration signal as the tight of trigger signal source
Anxious distress system is the hot spot studied at present.
Accident inspection using body acceleration signal as the emergency call system of triggering information source, in accident detection module
Whether method of determining and calculating judges accident by comparing acceleration peak value and threshold value set in advance and occur and the severity of accident.
But this kind of distress system is generally used single threshold value, and in order to improve the sensibility to collision, this threshold value is often
It is arranged lower, the probability for false alarm occur is very big.Thus, novel automobile emergency distress system, threshold value generally includes two
A level: first is that " threshold threshold value ", for judging whether accident occurs, i.e. differentiation traffic accident and emergency brake, Special Road
The special operation conditions such as traveling；Second is that " activation threshold value ", for determining whether automobile emergency distress system externally sends out a signal for help, i.e.,
Distinguish slight impact accident and major accident.The setting of automobile emergency distress system threshold threshold value mainly passes through roadblock and jolts
The real train test on road surface obtains, and usually the acceleration peak value during testing is quiet using one as threshold threshold value
The numerical value of state, when surface conditions change, static threshold threshold value can not effectively filter interference signal, also can not just have
Effect accurately determines whether accident occurs.
International roughness index (International Roughness Index, IRI) is that evaluation Pavement Performance aspect is answered
With one of widest index.The index is tested vehicle and is travelled with the speed of 80km/h based on a quarter auto model
On road surface, by the accumulation vertical displacement amount of dynamic response system as IRI value in operating range.The detection method master of IRI
If calculating IRI value by the relationship for establishing road surface elevation and IRI, measuring device be mostly laser type smoothness measuring equipment either
Level, but these methods need a large amount of manpower and material resources support, cost is very high, does not have universality.Since vehicle body accelerates
Degree signal only needs acceleration transducer to be obtained with, and the cost of acceleration transducer is also relatively low, therefore existing
Research is mainly the power spectral density (Power Spectrum Density, PSD) by body acceleration signal to establish vehicle
The incidence relation of body acceleration and IRI.
Although not built yet in conclusion vehicle body acceleration PSD, speed, IRI are associated by current research
The correlation model of threshold threshold value in vertical IRI, speed and automobile emergency distress system, therefore, it is impossible to according to surface conditions and vehicle
Fast adjustment threshold threshold value in real time.
Summary of the invention
In view of the above problems, the present invention provides the methods that one kind can constantly adjust threshold threshold value according to surface conditions.It should
Method mainly by establishing IRI, speed, the correlation model between threshold threshold value, further according to existing acceleration PSD, speed,
The correlation model of IRI realizes that the threshold threshold value of automobile emergency distress system can adjust door according to acceleration signal and speed signal
The purpose of sill threshold value finally improves the interference free performance of entire automobile emergency distress system.
The present invention specifically adopts the following technical scheme that
A kind of automobile emergency distress system threshold threshold value dynamic matching method, includes the following steps:
Step 1: acceleration information and vehicle speed data in acquisition vehicle traveling process；
Step 2: calculating the power spectral density of acceleration information；
Step 3: by the correlation model of the acceleration PSD, speed and the IRI that are preset in automobile emergency distress system, root
Corresponding IRI value is calculated with speed according to collected acceleration PSD, to achieve the purpose that road surface identifies；
Step 4: by the correlation model of the IRI, speed and threshold threshold value that are preset in automobile emergency distress system, root
Threshold threshold value is calculated according to the IRI value and collected speed that are calculated.
The beneficial effects of the present invention are:
Current automobile emergency distress system is seldom associated with external environment, the present invention establish IRI value, speed,
The correlation model of threshold threshold value connects road surface and automobile emergency distress system, the research to automobile emergency distress system
It is specific to push meaning.
What current automobile emergency distress system used is all static threshold threshold value, and anti-interference is poor.The present invention adopts
It avoids excessive invalid signals from entering system to more effectively filter interference signal with dynamic threshold threshold value, leads to the fortune of system
The row time increases.Meanwhile also remaining as much as possible and colliding useful signal to judgement, avoid automobile emergency distress system from sending out
Do not triggered when raw collision or false triggering, finally improve the operational efficiency of entire automobile emergency distress system and externally call for help it is accurate
Property.
Detailed description of the invention
Fig. 1 is the flow chart of automobile emergency distress system threshold threshold value dynamic adjustment of the present invention；
Fig. 2 is the flow chart for establishing the correlation model of speed, IRI and threshold threshold value.
Specific embodiment
Technical method of the invention is described in further detail with reference to the accompanying drawing:
As shown in Figure 1, a kind of automobile emergency distress system threshold threshold value dynamic matching method of the present invention, comprising:
Step 1: acceleration information and vehicle speed data in acquisition vehicle traveling process:
Automobile Z-direction acceleration information is acquired by acceleration transducer, the speed of automobile is obtained by the CAN bus of automobile
Data.
Acceleration information in step 1 can be obtained by acceleration transducer, and the model that acceleration transducer is selected is
The ADXL377 of ADI company needs two identical acceleration transducers in total, is respectively placed in interior left and right wheel
Surface.Collected acceleration signal is inputted by the channel A/D into the terminal of automobile emergency distress system.In step 1
Vehicle speed data can be obtained by the way that the CAN interface of automobile emergency distress system terminal is accessed vehicle interior bus.
Step 2: calculating the power spectral density of acceleration information: the vehicle body acceleration data according to obtained in step 1, lead to
It crosses the calculation procedure being preset in automobile emergency distress system and calculates acceleration PSD.
Further, the algorithm of power spectral density is calculated in step 2 are as follows: first calculate the auto-correlation function of signal, then find out
The power spectral density of acceleration can be obtained in the Fourier transformation of auto-correlation function.Specifically, the xcorr letter in Matlab is utilized
Number calculates the auto-correlation function of acceleration signal, and the power spectrum of auto-correlation function is calculated using the fft function in Matlab
Degree.
Further, it after completing the programming for calculating acceleration power spectral density in Matlab, utilizes
Matlab language is converted to C language by the C++ compiler of Matlab, so as to be conducted into the end of automobile emergency distress system
In end.
Step 3: according to collected acceleration signal and speed signal, by being preset in automobile emergency distress system
Acceleration power spectral density, speed with the correlation model of IRI calculate corresponding IRI value, to reach the mesh of road surface identification
's.
Further, in step 3 acceleration power spectral density, speed and IRI correlation model, using at present it is existing
Model, the expression of the model are as follows:
IRI=0.562 α Xl+6.471αXr-0.1651
In formula, α is the correction factor of speed, andV is speed, XlTo place
The integral evolution value of the power spectral density for the acceleration information that acceleration transducer above automobile the near front wheel measures, XrTo put
The integral evolution value of the power spectral density for the acceleration information that the acceleration transducer being placed in above automobile off-front wheel measures.
Step 4: by the correlation model of the IRI, speed and threshold threshold value that are preset in automobile emergency distress system, root
According to the IRI value being calculated and collects speed and calculate threshold threshold value.
As shown in Fig. 2, be establish IRI, speed, threshold threshold value correlation model flow chart.
Further, IRI, speed, the correlation model between threshold threshold value three are according to vehicle dynamics simulation software
Speed that CarSim is simulated, IRI, threshold threshold value (acceleration peak value) data are established, it is only necessary to the structure in CarSim software
These data can be simulated by building vehicle movement simulation model.Vehicle movement simulation model is by road surface model and auto model two
It is grouped as, the two model foundations is completed, can be emulated.
The foundation of road surface model needs three-dimensional pavement coordinate in CarSim, three-dimensional pavement coordinate can by one-dimensional road surface coordinate by
Step is expanded and is obtained, and one-dimensional road surface coordinate can be simulated to obtain by road surface restructing algorithm.The road surface restructing algorithm that the present invention selects is
Inverse Fourier transform method, although the algorithm programming is complex, its operation efficiency is very fast, and operation result is also more smart
Really.Different grades of road surface elevation data can be simulated by road surface restructing algorithm, but these altitude datas belong to one-dimensional road
Face altitude data.
In the case where having one-dimensional road surface elevation data, the one-dimensional variable in inverse Fourier transform is used into two-dimentional variable generation
For two-dimentional road surface coordinate can be obtained.
In order to which two-dimentional road surface coordinate is expanded into three-dimensional pavement coordinate required for CarSim software, it is only necessary to by two-dimentional road
(x, y, z) coordinate system used in areal coordinate is converted into (S, L, Z) coordinate system suitable for CarSim software.When the road of foundation
When face is curved road surface, the conversion of this coordinate system is more complicated, but the road surface established, when being straight road surface, (x, y, z) is sat
Mark system and (S, L, Z) coordinate system are identical, so not needing to convert.The road surface that the present invention is established when constructing correlation model
It is exactly straight road surface, so the three-dimensional pavement coordinate used when constructing three-dimensional road surface is exactly two-dimentional road surface coordinate.
After obtaining two-dimentional road surface coordinate, need to be conducted into three road surface files in CarSim software.First
It is road level shape files, that is, a table, first row and the secondary series input of table are located at road center line
The x coordinate of all coordinate points y-coordinate corresponding with its；Second is vertical alignment file, the first row and secondary series of table
Input is located at x coordinate z coordinate corresponding with its of all coordinate points at road center line；Third is road roughness text
Part, the first row input of table are located at the x coordinate of all coordinate points at road center line, are simulated with road surface restructing algorithm
The x coordinate and y-coordinate of road surface coordinate have many identical parts, by the first row of the identical part List of input of y-coordinate, table
Remainder be each coordinate points in entire road surface z coordinate, meanwhile, the position of the z coordinates of each coordinate points arrangement must be with
Table first row and the x coordinate and y-coordinate of the first row are corresponding.
Further, after two-dimentional road surface coordinate being imported three road surface files, CarSim software produces three-dimensional empty
Quasi- road surface.
Vehicle movement simulation model is constructed in addition to needing to construct three-dimensional road surface, it is also necessary to construct complete vehicle mould
Type.Different grades of auto model is carried in CarSim, so the auto model in CarSim software can be selected directly.It is building
After vertical road surface model and auto model, vehicle dynamics simulation can be carried out.
Acceleration information in vehicle traveling process can export after running vehicle movement simulation model.IRI value needs
It to be calculated by road surface elevation, road surface elevation is calculated using road surface restructing algorithm, can also be imitative in operation vehicle movement
It is exported after true mode, according to road surface elevation data, No. 45 file " The issued with the World Bank in 1986
International Road Roughness Experiment Standard for Measurement " specified in IRI
Calculation method calculates the corresponding IRI value in constructed three-dimensional road surface.Speed can be arranged before simulation run.
Further, acceleration peak value in vehicle traveling process is found out, using this peak value as threshold threshold value.It will obtain threshold
Threshold value, IRI value and speed import in SPSS software, and using threshold threshold value as dependent variable, IRI value and speed are built as independent variable
Regression equation between vertical three, this regression equation is inputted in automobile emergency distress system terminal, as threshold threshold value, speed
With the correlation model of IRI value.Obtained correlation model are as follows:
In formula, v indicates automobile speed.
In formula, why threshold threshold value and the correlation model of speed and IRI are a piecewise functions, are because at A grades
The data obtained after the enterprising driving motion simulation in road surface (IRI < 2.433m/km) are returned, and obtained regression equation is shown
Work property is poor.It is therefore desirable to individually consider the threshold threshold value on A grades of road surfaces.In fact, when automobile on A grade road surfaces when driving, general
Threshold value, which is set as 2g, can filter most interference signal, so, select 2g as the threshold threshold value on A grades of road surfaces, for
The setting on the road surface (IRI >=2.433m/km) of other grades, threshold threshold value can be calculated by returning obtained correlation model
It arrives.
Further, by the correlation model between IRI and acceleration PSD, speed substitute into threshold threshold value and IRI, speed it
Between correlation model in, the threshold of corresponding automobile emergency distress system can be calculated with speed according to automobile Z-direction acceleration
Threshold value.
By above step, the incidence relation between Z-direction acceleration and car speed-IRI-threshold threshold value is established.
The Z-direction acceleration information that automobile emergency distress system can be measured according to speed signal with acceleration transducer adjusts in real time promptly exhales
The threshold threshold value of system is rescued, to achieve the purpose that improve system rejection to disturbance performance.But it should be noted that mentioned here
" in real time adjustment " is not that acceleration transducer collects an acceleration signal and just adjusts a threshold threshold value, that is to say, that is adjusted
It is consistent that the frequency of whole threshold threshold value cannot acquire the frequency of signal with acceleration transducer, but to be far smaller than acceleration sensing
Device acquires the frequency of signal, because when both frequencies are consistent, that is, the threshold changes of threshold of emergency call system is too fast,
Instead can not accurate filtered acceleration signal can not to accurately distinguish traffic accident and emergency brake, Special Road traveling etc. special
Operating condition.In order to enable the acceleration signal for being used to adjust acceleration peak value (threshold threshold value) is enough, present invention provide that automobile is every
500m is travelled, adjust automatically threshold threshold value is primary.
Claims (4)
1. a kind of automobile emergency distress system threshold threshold value dynamic matching method, it is characterised in that include the following steps:
Step 1: acceleration information and vehicle speed data in acquisition vehicle traveling process；
Step 2: calculating the power spectral density of acceleration information；
Step 3: being referred to by the acceleration power spectral density that is preset in automobile emergency distress system, speed and international flatness
Several correlation models calculates corresponding international roughness index value with speed according to collected acceleration power spectral density；
Step 4: being associated with by the international roughness index that is preset in automobile emergency distress system, speed with threshold threshold value
Model calculates threshold threshold value according to the international roughness index value and collected speed that are calculated, carries out dynamic adjustment.
2. automobile emergency distress system threshold threshold value dynamic matching method as described in claim 1, it is characterised in that the world is flat
The correlation model of whole degree index, speed and threshold threshold value is using threshold threshold value as dependent variable, international roughness index value and vehicle
Speed is used as independent variable, establishes the regression equation between three, obtained regression equation are as follows:
Wherein v is speed, and IRI is international roughness index.
3. automobile emergency distress system threshold threshold value dynamic matching method as described in claim 1, the function of characteristic acceleration
The correlation model of rate spectrum density, speed and international roughness index, regression equation are as follows:
IRI=0.562 α Xl+6.471αXr- 0.1651,
In formula, α is the correction factor of speed, andV is speed, XlIt is left front for automobile
The integral evolution value of the power spectral density of the acceleration information of wheel, XrFor the power spectral density of the acceleration information of automobile off-front wheel
Integral evolution value.
4. automobile emergency distress system threshold threshold value dynamic matching method as described in claim 1, it is characterised in that dynamic is adjusted
The frequency of whole threshold threshold value is far smaller than the frequency of acceleration transducer acquisition signal, with accurate filtered acceleration signal.
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| CN201810818820.XA CN109086508B (en) | 2018-07-24 | 2018-07-24 | Threshold value dynamic matching method for automobile emergency call system |
| PCT/CN2019/090235 WO2020019883A1 (en) | 2018-07-24 | 2019-06-06 | Method for dynamically configuring threshold value of emergency call system of car |
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| CN201810818820.XA CN109086508B (en) | 2018-07-24 | 2018-07-24 | Threshold value dynamic matching method for automobile emergency call system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110606040A (en) * | 2019-08-30 | 2019-12-24 | 江苏大学 | Correction method suitable for speed variation of automatic distress system for vehicle accident |
| WO2020019883A1 (en) * | 2018-07-24 | 2020-01-30 | 江苏大学 | Method for dynamically configuring threshold value of emergency call system of car |
| CN113297685A (en) * | 2021-07-27 | 2021-08-24 | 中汽研（天津）汽车工程研究院有限公司 | Vehicle operation condition mode identification method |
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| JP4119069B2 (en) * | 2000-03-17 | 2008-07-16 | 本田技研工業株式会社 | Vehicle rollover judgment method |
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| CN109086508B (en) * | 2018-07-24 | 2022-05-17 | 江苏大学 | Threshold value dynamic matching method for automobile emergency call system |
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2018
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2019
- 2019-06-06 WO PCT/CN2019/090235 patent/WO2020019883A1/en active Application Filing
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| US6076028A (en) * | 1998-09-29 | 2000-06-13 | Veridian Engineering, Inc. | Method and apparatus for automatic vehicle event detection, characterization and reporting |
| CN104120644A (en) * | 2013-04-26 | 2014-10-29 | 同济大学 | Gravitational acceleration sensor based road surface flatness detection method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2020019883A1 (en) * | 2018-07-24 | 2020-01-30 | 江苏大学 | Method for dynamically configuring threshold value of emergency call system of car |
| CN110606040A (en) * | 2019-08-30 | 2019-12-24 | 江苏大学 | Correction method suitable for speed variation of automatic distress system for vehicle accident |
| CN110606040B (en) * | 2019-08-30 | 2021-07-20 | 江苏大学 | Correction method suitable for speed variation of automatic distress system for vehicle accident |
| CN113297685A (en) * | 2021-07-27 | 2021-08-24 | 中汽研（天津）汽车工程研究院有限公司 | Vehicle operation condition mode identification method |
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| WO2020019883A1 (en) | 2020-01-30 |
| CN109086508B (en) | 2022-05-17 |
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